raw udp for primary ipc

Cargo.toml

 [package]
 name = "roboplc"
-version = "0.1.14"
+version = "0.1.15"
 edition = "2021"
 authors = ["Serhij S. <div@altertech.com>"]
 license = "Apache-2.0"

examples/raw-udp.rs

-use roboplc::io::raw_udp::{UdpInput, UdpOutput};
+use roboplc::io::{UdpReceiver, UdpSender};
 use roboplc::prelude::*;
 use roboplc::time::interval;
 use tracing::{error, info};
@@ -10,6 +10,8 @@ enum Message {
 
 // A raw UDP structure, to be sent and received
 //
+// The recommended way of IPC for RoboPLC
+//
 // Raw UDP structures are used by various software, e.g. Matlab, LabView, etc. as well as by some
 // fieldbus devices
 #[derive(Debug, Clone)]
@@ -28,7 +30,7 @@ struct UdpIn {}
 
 impl Worker<Message, ()> for UdpIn {
     fn run(&mut self, context: &Context<Message, ()>) -> WResult {
-        let server = UdpInput::<EnvData>::bind("127.0.0.1:25000", 24)?;
+        let server = UdpReceiver::<EnvData>::bind("127.0.0.1:25000", 24)?;
         // [`UdpInput`] is an iterator of incoming UDP packets which are automatically parsed
         for data in server {
             match data {
@@ -52,7 +54,7 @@ struct UdpOut {}
 
 impl Worker<Message, ()> for UdpOut {
     fn run(&mut self, context: &Context<Message, ()>) -> WResult {
-        let mut client = UdpOutput::connect("localhost:25000")?;
+        let mut client = UdpSender::connect("localhost:25000")?;
         for _ in interval(Duration::from_secs(1)) {
             let data = EnvData {
                 temp: 25.0,

src/io/mod.rs

@@ -4,7 +4,9 @@ use binrw::{BinRead, BinWrite};
 use crate::Result;
 
 pub mod modbus;
-pub mod raw_udp;
+mod raw_udp;
+
+pub use raw_udp::{UdpReceiver, UdpSender};
 
 #[allow(clippy::module_name_repetitions)]
 pub trait IoMapping {

src/io/raw_udp.rs

@@ -7,7 +7,8 @@ use std::{
 
 use crate::{Error, Result};
 
-pub struct UdpInput<T>
+/// Raw UDP receiver
+pub struct UdpReceiver<T>
 where
     T: for<'a> BinRead<Args<'a> = ()>,
 {
@@ -16,7 +17,7 @@ where
     _phantom: PhantomData<T>,
 }
 
-impl<T> UdpInput<T>
+impl<T> UdpReceiver<T>
 where
     T: for<'a> BinRead<Args<'a> = ()>,
 {
@@ -30,7 +31,7 @@ where
     }
 }
 
-impl<T> Iterator for UdpInput<T>
+impl<T> Iterator for UdpReceiver<T>
 where
     T: for<'a> BinRead<Args<'a> = ()>,
 {
@@ -47,13 +48,23 @@ where
     }
 }
 
-pub struct UdpOutput {
+/// Raw UDP sender
+pub struct UdpSender<T>
+where
+    T: for<'a> BinWrite<Args<'a> = ()>,
+{
     socket: UdpSocket,
     target: SocketAddr,
     data_buf: Vec<u8>,
+    // keep the generic `T` global (including traits) as each instance is dedicated to send a
+    // specific type only
+    _phantom: PhantomData<T>,
 }
 
-impl UdpOutput {
+impl<T> UdpSender<T>
+where
+    T: for<'a> BinWrite<Args<'a> = ()>,
+{
     pub fn connect<A: ToSocketAddrs>(addr: A) -> Result<Self> {
         let socket = UdpSocket::bind(("0.0.0.0", 0))?;
         let target = addr
@@ -64,13 +75,11 @@ impl UdpOutput {
             socket,
             target,
             data_buf: <_>::default(),
+            _phantom: PhantomData,
         })
     }
 
-    pub fn send<T>(&mut self, value: T) -> Result<()>
-    where
-        T: for<'a> BinWrite<Args<'a> = ()>,
-    {
+    pub fn send(&mut self, value: T) -> Result<()> {
         let mut buf = Cursor::new(&mut self.data_buf);
         value.write_le(&mut buf)?;
         self.socket.send_to(&self.data_buf, self.target)?;